Release v1.3.1

[nu-jliu]

Summary

Release v1.3.1 mirrors the current dev/JH_i2rt-main tree into the public repository. Two changes land: arm hardware revisions become flat arm variants (the arm --version flag and version= kwarg are gone), and the YAM family gains Intel RealSense D405 camera models plus a new yam_station_*_d405 station family.

Per release direction, pyproject.toml stays at package version 1.1.2 — the release version is carried by the branch/PR title.

Breaking change: get_yam_robot(..., version=N) and the --version CLI flag are removed. Use the flat variant instead — --arm yam_ultra_2 / ArmType.YAM_ULTRA_2 replaces --arm yam_ultra --version 2.

Changes

Flat arm variants (replaces the --version flag)

• i2rt/robots/utils.py: added the _ARM_VARIANTS map from variant name to (family, revision), added the ArmType.YAM_ULTRA_2 member plus ArmType.family / ArmType.version accessors, and dropped the version parameter from _load_arm_config, _load_gripper_config, combine_arm_and_gripper_xml, and ArmType.get_xml_path — each now derives the on-disk (family, v<N>) pair from the ArmType alone
• i2rt/robots/get_robot.py: removed the keyword-only version argument from get_yam_robot and updated its config/XML lookups to resolve the revision from arm_type
• i2rt/robots/motor_chain_robot.py: dropped the --version CLI flag from _CliArgs and its get_yam_robot call; the --arm docstring now lists yam_ultra_2
• i2rt/robot_models/__init__.py: added available_arm_families(), which reports only families that have at least one shipped v<N>/<arm>.xml, so a staged raw CAD export is not mistaken for a family
• examples/control_with_mujoco/control_with_mujoco.py: removed the --version flag and the arm_version parameter threaded through _robot_worker
• examples/control_with_viser/control_with_viser.py: removed the version parameter from main() and its get_yam_robot call
• examples/minimum_gello/minimum_gello.py: removed Args.version, added yam_ultra_2 to the --arm literal, and dropped the version argument from _run_viewer_loop and both get_yam_robot calls
• i2rt/robots/tests/test_robot_variants.py: added ArmType.YAM_ULTRA_2 to the variant matrix
• i2rt/robots/tests/test_urdf_mjcf_alignment.py, i2rt/robots/tests/test_urdf_mjcf_posed_alignment.py: reworked the alignment fixtures to enumerate variants via ArmType.family / ArmType.version instead of a separate version argument

New D405 camera and station models

• i2rt/robot_models/arm/yam/v1/yam_crank_4310_d405.xml, yam_linear_4310_d405.xml, yam_linear_4310_d405.urdf: added wrist-camera YAM variants with the D405 placed at the calibrated wrist-camera extrinsic
• i2rt/robot_models/arm/yam/v1/assets/crank_4310/, assets/d405/: added the crank gripper and D405 bracket/cable-holder meshes the new arm models reference
• i2rt/robot_models/gripper/crank_4310/crank_4310_d405.xml, i2rt/robot_models/gripper/linear_4310/linear_4310_d405.xml (+ their assets/d405/ meshes): added D405-equipped variants of both 4310 grippers
• i2rt/robot_models/station/yam_station_crank_4310_d405/, yam_station_linear_4310_d405/: added the two station models (URDF + MJCF + README with kinematics/extrinsics tables)
• i2rt/robot_models/station/assets/Bracket_for_top_D405.stl: added the top-mounted D405 bracket mesh shared by both stations

Docs

• README.md: added the arm-variant table (mass, chain length, per-model doc links) including yam_ultra_2, added the flexible_4310 / no_gripper gripper rows and the Viser / Flow Base example rows, and updated the zero-gravity and Python API snippets to pass arm_type
• AGENTS.md, CLAUDE.md: rewrote the "config-driven, runtime-composed models" section to describe hardware revisions as arm variants, document the two-place ArmType + _ARM_VARIANTS registration, and note that get_arm_xml_path(arm, version) and sync_gripper_mounts.py --version N intentionally keep an explicit version
• examples/control_with_mujoco/README.md, examples/control_with_viser/README.md, examples/minimum_gello/README.md: dropped the --version row from the argument tables and added yam_ultra_2 to the --arm value lists

Test Plan

• uv sync --all-packages in a fresh checkout succeeds
• uv run python -c "import i2rt" imports cleanly
• uv run pytest i2rt/robots/tests i2rt/utils/tests tests -q passes (expected: 429 passed, 2 skipped)
• uv run ruff check . passes
• Verify the new variant resolves and composes:

  uv run python -c "
  from i2rt.robots.utils import ArmType, GripperType, combine_arm_and_gripper_xml
  import mujoco
  for arm in [ArmType.YAM, ArmType.YAM_ULTRA_2, ArmType.BIG_YAM]:
      m = mujoco.MjModel.from_xml_path(combine_arm_and_gripper_xml(arm, GripperType.LINEAR_4310))
      print(arm.value, arm.family, arm.version, m.nq)
  "

• Confirm uv run python i2rt/robots/motor_chain_robot.py --help shows no --version flag and lists yam_ultra_2 under --arm
• Edge case: uv run python examples/control_with_mujoco/control_with_mujoco.py --arm yam_ultra_2 --sim launches
• Edge case: confirm the old form --arm yam_ultra --version 2 now errors rather than silently ignoring the flag
• Skim the diff for any local/secret file that should not be public

Known follow-ups (not introduced as regressions by this PR)

• Four of the new D405 MJCFs (yam_crank_4310_d405.xml, yam_linear_4310_d405.xml, crank_4310_d405.xml, linear_4310_d405.xml) contain literal -- inside header comments, which XML 1.0 forbids. MuJoCo loads them (TinyXML2 is lenient) but xml.etree.ElementTree — which this repo uses in combine_arm_and_gripper_xml — rejects them. Latent today because nothing references these models yet; should be fixed upstream in dev before they are wired into ArmType / GripperType.
• .claude/launch.json (pre-existing in main, untouched here) hardcodes a developer's absolute personal path and points at a doc site not present in this repo. Worth removing separately.

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